Work control method of construction machine, work control system, and work control apparatus

ABSTRACT

A work control method according to the present invention includes: an initial motion input model generation step; and a feedback control step, in which the initial motion input model generation step includes: a first initial motion input value measurement step of measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state of the movable part; a second initial motion input value measurement step of measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state of the movable part; and a model generation step of generating an initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value with respect to a desired posture of the construction machine.

TECHNICAL FIELD

The present invention relates to a work control method of a constructionmachine, a work control system, and a work control apparatus, and inparticular, to a work control method of a construction machine includinga manipulation lever that controls the posture of the constructionmachine, a work control system, and a work control apparatus.

BACKGROUND ART

In recent years, many unmanned controls for construction machines havebeen proposed. For example, Patent Literature 1 and 2 disclosetechniques regarding control of construction machines.

Patent Literature 1 discloses a technique regarding a work machinecontrol apparatus of a construction machine. The work machine controlapparatus of the construction machine disclosed in Patent Literature 1is a construction machine including work machine cylinders thatrotationally drive respective arms of a work machine, work machinemanipulation levers provided for the respective arms, and a flow ratecontrol system that controls a pressure oil supply flow rate to each ofthe work machine cylinders in accordance with command signals from therespective levers, the construction machine including: a reference modelunit in which desired manipulation response characteristics of each ofthe work machines is specified, reference model setting means forsetting manipulation response characteristics of the reference model,cylinder speed detection means of each of the work machines, andadaptive control means for executing, using a detection value of thecylinder speed detection means as a feedback signal, adaptive control insuch a way that the manipulation response characteristics of each of thework machines correspond to the manipulation response characteristics ofthe reference model unit, correcting a control command value of apressure oil supply flow rate for each of the work machines, andcontrolling the speed of each of the work machine cylinders by thiscorrected control command value.

Further, Patent Literature 2 discloses a technique regarding anelectromagnetic valve control apparatus in a hydraulic circuit of anindustrial vehicle. In the electromagnetic valve control apparatus inthe hydraulic circuit of the industrial vehicle disclosed in PatentLiterature 2, a CPU performs feedback control of a duty output valueDout for deciding a duty value (%) of a PWM signal to be input to atransistor provided between a battery and an electromagnetic valve. Aduty output value Dout at a timing when a predetermined period of time(300 ms) has passed after a tilt lever is manipulated (tiltmanipulation) for the first time after key-ON, and a target currentvalue Iaim at this time are stored as learning values Drec and Irec,respectively. In the second and subsequent tilt manipulations afterkey-ON, the learning values Drec and Irec learned in the previous tiltmanipulation are used to determine Dout=Iaim·Drec/Irec computed inaccordance with the target current value Iaim at this time to be aninitial value of the duty output value.

CITATION LIST Patent Literature

-   [Patent Literature 1] Japanese Unexamined Patent Application    Publication No. H09-328785-   [Patent Literature 2] Japanese Unexamined Patent Application    Publication No. H11-171498

SUMMARY OF INVENTION Technical Problem

In construction machines, play, which is a deviation that occurs betweena manipulation start point of a manipulation lever and an operationstart point of a cylinder, is provided. However, in the techniquesdisclosed in Patent Literature 1 and 2, the amount of play of themanipulation lever is not taken into account, which causes a problemthat an accuracy of unmanned control of the construction machine is notsufficiently high.

Solution to Problem

One aspect of a work control method of a construction machine accordingto one example embodiment includes: an initial motion input modelgeneration step of generating an initial motion input model forcomputing an initial motion input value at which a movable part of aconstruction machine is caused to start to move; and a feedback controlstep of computing the initial motion input value that corresponds to theposture of the construction machine using the initial motion input modeland determining a control input value equal to or larger than theinitial motion input value, in which the initial motion input modelgeneration step includes: a first initial motion input value measurementstep of measuring a first initial motion measurement value at which themovable part is caused to start to move in a first state in which themovable part is controlled to a first position within a movable range ofthe movable part; a second initial motion input value measurement stepof measuring a second initial motion measurement value at which themovable part is caused to start to move in a second state in which themovable part is controlled to a second position that is different fromthe first position within the movable range of the movable part; and amodel generation step of generating the initial motion input model thatcomplements between the first initial motion measurement value and thesecond initial motion measurement value and derives the initial motioninput value with respect to a desired posture of the constructionmachine.

One aspect of a work control system of a construction machine accordingto one example embodiment includes: an initial motion input modelgeneration unit configured to generate an initial motion input model forcomputing an initial motion input value at which a movable part of aconstruction machine is caused to start to move; and a feedback controlunit configured to compute the initial motion input value thatcorresponds to the posture of the construction machine using the initialmotion input model and determine a control input value equal to orlarger than the initial motion input value, in which the initial motioninput model generation unit performs: first initial motion input valuemeasurement processing for measuring a first initial motion measurementvalue at which the movable part is caused to start to move in a firststate in which the movable part is controlled to a first position withina movable range of the movable part; second initial motion input valuemeasurement processing for measuring a second initial motion measurementvalue at which the movable part is caused to start to move in a secondstate in which the movable part is controlled to a second position thatis different from the first position within the movable range of themovable part; and model generation processing for generating the initialmotion input model that complements between the first initial motionmeasurement value and the second initial motion measurement value andderiving the initial motion input value with respect to a desiredposture of the construction machine.

One aspect of a work control apparatus of a construction machineaccording to one example embodiment includes: an initial motion inputmodel generation unit configured to generate an initial motion inputmodel for computing an initial motion input value at which a movablepart of a construction machine is caused to start to move; and afeedback control unit configured to compute the initial motion inputvalue that corresponds to the posture of the construction machine usingthe initial motion input model and determine a control input value equalto or larger than the initial motion input value, in which the initialmotion input model generation unit performs: first initial motion inputvalue measurement processing for measuring a first initial motionmeasurement value at which the movable part is caused to start to movein a first state in which the movable part is controlled to a firstposition within a movable range of the movable part; second initialmotion input value measurement processing for measuring a second initialmotion measurement value at which the movable part is caused to start tomove in a second state in which the movable part is controlled to asecond position that is different from the first position within themovable range of the movable part; and model generation processing forgenerating the initial motion input model that complements between thefirst initial motion measurement value and the second initial motionmeasurement value and deriving the initial motion input value withrespect to a desired posture of the construction machine.

Advantageous Effects of Invention

With a work control method of a construction machine, a work methodsystem, and a work control apparatus according to example embodiments,it is possible to control the posture of a construction machine with ahigh accuracy even when an amount of play in a manipulation lever ischanged.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic view of a work control system according to a firstexample embodiment;

FIG. 2 is a schematic block diagram of the work control system accordingto the first example embodiment;

FIG. 3 is a detailed block diagram of the work control system accordingto the first example embodiment;

FIG. 4 is a flowchart for describing an operation of the work controlsystem according to the first example embodiment;

FIG. 5 is a flowchart for describing an operation of an initial motioninput model generation unit according to the first example embodiment;

FIG. 6 is a flowchart for describing an operation of a feedback controlunit according to the first example embodiment;

FIG. 7 is a block diagram of a work control system according to a secondexample embodiment; and

FIG. 8 is a flowchart for describing an operation of a feedback controlunit according to the second example embodiment.

EXAMPLE EMBODIMENT First Example Embodiment

Hereinafter, with reference to the drawings, example embodiments of thepresent invention will be described. A work control method, a workcontrol system, and a work control apparatus of a construction machinedescribed below control a construction machine that drives joints of amachine using a cylinder. The following description will be made takinga backhoe as an example of the construction machine. Further, while awork control system in which process blocks that perform work controlprocessing are arranged in a plurality of places in a distributed mannervia a network will be described in the following description, a workcontrol apparatus in which the process blocks included in the workcontrol system are formed of one apparatus may be employed. Further, thecontent of the control performed in the work control system will bereferred to as a work control method. Specific examples thereof will bedescribed later in detail.

FIG. 1 shows a schematic view of a work control system 1 according to afirst example embodiment. A construction machine 10 shown in FIG. 1 is abackhoe. The construction machine 10 includes a crawler 11, a turningbase 12, a cockpit 13, a boom 14, an arm 15, and a bucket 16. Thecrawler 11 is a caterpillar for moving the construction machine 10. Theturning base 12 turns a chassis on which the cockpit 13, the boom 14 andthe like are mounted. The cockpit 13 is a manipulation room in which amanipulation lever and the like for manipulating the posture of theconstruction machine 10 are disposed. Further, while the drawings are ina simplified form, in the work control system 1, an actuator 17 formanipulating the manipulation lever is disposed in the cockpit 13.Further, each of the boom 14, the arm 15, and the bucket 16 correspondsto a movable part and is operated by a hydraulic cylinder. Thishydraulic cylinder is elongated or contracted by manipulating themanipulation lever installed in the cockpit 13. While the part thatcorresponds to the movable part includes, for example, besides thehydraulic cylinder, a part that is driven by a motor, a hydrauliccylinder will be described as an example of the movable part in thefollowing description.

Further, in the work control system 1 according to the first exampleembodiment, posture sensors 181-184 for detecting posture angles areattached to the movable parts of the construction machine 10. In theexample shown in FIG. 1 , the posture sensor 181 detects the rotationangle of the turning base 12, the posture sensor 182 detects the currentangle of the boom 14, the posture sensor 183 detects the relative angleof the boom 14 and the arm 15, and the posture sensor 184 detects therelative angle of the arm 15 and the bucket 16.

In the work control system 1 according to the first example embodiment,a posture control apparatus 20 and a work control apparatus 30 thatcorrespond to the construction machine 10 are provided. The posturecontrol apparatus 20 provides instructions for operating the actuator17. The posture control apparatus 20 further generates a posturedetection value based on information on the angles acquired from theposture sensors 181-184. The work control apparatus 30 generates acontrol input value for deciding the posture of the construction machine10 based on the information obtained from the posture control apparatus20.

In the work control system 1 according to the first example embodiment,an input value at which the movable parts such as the boom 14 of theconstruction machine 10 are caused to start to operate in accordancewith an amount of displacement of the manipulation lever of theconstruction machine 10 provided via the actuator 17 will be referred toas an initial motion input value. Then the construction machine 10 iscontrolled using the initial motion input value as the basis forcontrol. Further, this initial motion input value varies depending on anamount of elongation or contraction of the cylinder in terms of thecharacteristics of the cylinder. The work control system 1 according tothe first example embodiment generates an initial motion input modelfrom different elongated/contracted states of the cylinder and updates,using the initial motion input model, the initial motion input value foreach posture when the control of the construction machine 10 is started.Then, the work control system 1 according to the first exampleembodiment computes a feedback control input value to the constructionmachine control unit so as to compensate the updated initial motioninput value as the minimum value of the input value to be provided forthe construction machine 10. In the following description, the workcontrol system 1 according to the first example embodiment will bedescribed below in detail.

First, a configuration of a process block of the work control system 1according to the first example embodiment will be described. FIG. 2shows a schematic block diagram of the work control system according tothe first example embodiment. Note that the construction machine 10 isshown in FIG. 2 as a target to be controlled by the work control system1. In the example shown in FIG. 2 , the posture control apparatus 20 isprovided with a construction machine control unit 21 and a posturedetection unit 22. The work control apparatus 30 is provided with aninitial motion input model generation unit 31 and a feedback controlunit 32. Then the construction machine 10 is manipulated using theposture control apparatus 20 and the work control apparatus 30.

The example shown in FIG. 2 is merely one example. For example, theposture control apparatus 20 and the work control apparatus 30 may beintegrated as one apparatus and the construction machine 10 and theposture control apparatus 20 may be connected to each other bycommunication. Further, the posture control apparatus 20 may be providedin such a way that the posture control apparatus 20 and the constructionmachine 10 are integrated with each other to obtain a form in which theposture control apparatus 20 and the work control apparatus 30 areconnected to each other by communication. For example, the work controlapparatus 30 may be disposed in a cloud storage and the work controlapparatus 30 may be connected to the posture control apparatus 20 viacommunication. Further, the construction machine 10 is a target to becontrolled by the work control apparatus 30 and the posture controlapparatus 20 may be an interface for allowing the work control apparatus30 to actually operate the construction machine 10. In this case, it canbe considered that the work control apparatus 30 is a main part of thework control system 1.

The work control apparatus 30 includes the initial motion input modelgeneration unit 31 and the feedback control unit 32. The initial motioninput model generation unit 31 generates an initial motion input modelfor computing an initial motion input value at which the movable partsof the construction machine 10 (e.g., the turning base 12, the boom 14,the arm 15, and the bucket 16) start to operate. The feedback controlunit 32 computes the initial motion input value that corresponds to theposture of the construction machine 10 using the initial motion inputmodel and determines a control input value which is equal to or largerthan the initial motion input value. Here, the initial motion inputmodel generation unit 31 performs first initial motion input measurementprocessing, second initial motion input measurement processing, andmodel generation processing. In the first initial motion inputmeasurement processing, a first initial motion measurement value atwhich the movable parts are caused to start to move is measured in afirst state in which the movable parts are controlled to a firstposition in the movable range of the movable parts. In the secondinitial motion input measurement processing, a second initial motionmeasurement value at which the movable parts are caused to start to moveis measured in a second state in which the movable parts are controlledto a second position, which is different from the first position in themovable range of the movable parts. In the model generation processing,an initial motion input model that complements between the first initialmotion measurement value and the second initial motion measurement valueand derives the initial motion input value with respect to a desiredposture of the construction machine 10 is generated.

Next, a more detailed configuration of the work control system 1according to the first example embodiment will be described. FIG. 3shows a block diagram of the work control system 1 according to thefirst example embodiment. Note that, in FIG. 3 , the constructionmachine 10 controlled by the work control system 1 is also shown for theexplanation. As shown in FIG. 3 , the work control system 1 according tothe first example embodiment includes the posture control apparatus 20and the work control apparatus 30. Then, the posture control apparatus20 is provided with the construction machine control unit 21 and theposture detection unit 22. Further, the work control apparatus 30 isprovided with the initial motion input model generation unit 31 and thefeedback control unit 32.

The construction machine control unit 21 operates the actuator based ona feedback control input value computed by the feedback control unit 32,thereby displacing the manipulation lever in the construction machine10. Further, when the initial motion input model generation unit 31generates an initial motion input model, the construction machinecontrol unit 21 is provided with the control input value from theinitial motion input model generation unit 31 and displaces themanipulation lever of the construction machine 10 based on the controlinput value.

The posture detection unit 22 acquires the joint angles of therespective movable parts from the sensors 181-184 provided in themovable parts such as the arm of the construction machine 10 and outputsthe acquired joint angles as posture detection values indicating theposture of the construction machine 10. The initial motion input modelgeneration unit 31 generates an initial motion input model for computingthe initial motion input value at which movable parts of theconstruction machine 10 are caused to start to move. Further, thefeedback control unit 32 computes an initial motion input value thatcorresponds to the current posture using the initial motion input modeland computes a feedback control input value that compensates the initialmotion input value as the minimum value.

Here, the initial motion input model generation unit 31 and the feedbackcontrol unit 32 will be described in detail. The initial motion inputmodel generation unit 31 includes an initial motion input measurementunit 311 and a model generation unit 312. The initial motion inputmeasurement unit 311 outputs, when the initial motion input model isgenerated, an input value to be provided to the construction machinecontrol unit 21 in order to displace the movable parts of theconstruction machine 10 and detects the state of the movable parts whenthey start to move based on the posture detection value output from theposture detection unit 22, thereby measuring the initial motion inputvalue for each posture. More specifically, the initial motion inputmeasurement unit 311 executes a first initial motion input valuemeasurement step and a second initial motion input value measurementstep.

In the first initial motion input measurement step, the first initialmotion measurement value at which the movable parts are caused to startto move is measured in the first state in which the movable parts arecontrolled to the first position in the movable range of the movableparts. In the second initial motion input measurement step, the secondinitial motion measurement value at which the movable parts are causedto start to move is measured in the second state in which the movableparts are controlled to the second position, which is different from thefirst position in the movable range of the movable parts. Examples ofmore specific operations of the first initial motion input measurementstep and the second initial motion input measurement step will be thoseas described below.

In the first initial motion input value measurement step, the inputvalue that changes in a stepwise manner is applied to the constructionmachine control unit 21 in the first state in which the cylinder thatdrives the movable parts is elongated, and the input value at the timingwhen the movable parts start to move is measured as the first initialmotion measurement value. Further, in the first example embodiment, inthe first initial motion input value measurement step, the input valueis provided for the cylinder which is in the first state in such a waythat the cylinder moves in each of a positive direction in which thecylinder is elongated and a negative direction in which the cylinder iscontracted and the first initial motion measurement value is measuredfor each of the positive direction and the negative direction.

In the second initial motion input value measurement step, an inputvalue that changes in a stepwise manner is applied to the constructionmachine control unit 21 in the second state in which the cylinder thatdrives the movable parts is contracted, and the input value at thetiming when the movable parts start to move is measured as the secondinitial motion measurement value. Further, in the first exampleembodiment, in the second initial motion input value measurement step,the input value is provided for the cylinder which is in the secondstate in such a way that the cylinder moves in each of the positivedirection in which the cylinder is elongated and the negative directionin which the cylinder is contracted and the second initial motionmeasurement value is measured for each of the positive direction and thenegative direction.

The model generation unit 312 executes a model generation step ofgenerating the initial motion input model that complements between thefirst initial motion measurement value and the second initial motionmeasurement value and derives the initial motion input value withrespect to a desired posture of the construction machine 10.

The feedback control unit 32 includes an initial motion input updateunit 321, an error update unit 322, and a control input computation unit323. The initial motion input update unit 321 executes an initial motioninput update step of acquiring the posture of the construction machine10 based on the positional information (e.g., posture detection value)of the movable parts of the construction machine 10 and updating theinitial motion input value that corresponds to the posture by the valuecomputed using the initial motion input model. The error update unit 322executes the error update step of updating the error between the currentposture and the target posture of the construction machine 10. Thecontrol input computation unit 323 executes a control input computationstep of receiving the error and the initial motion input value,computing a feedback control input value that reduces the error, andprovides the computed feedback control input value for the constructionmachine 10.

Next, an operation of the work control system 1 according to the firstexample embodiment will be described. FIG. 4 shows a flowchart fordescribing an operation of the work control system according to thefirst example embodiment. As shown in FIG. 4 , the work control system 1according to the first example embodiment performs initial motion inputmodel generation processing before it starts the operation (Step S1). Inthis Step S1, processing of generating the initial motion input modelusing the construction machine control unit 21, the posture detectionunit 22, and the initial motion input model generation unit 31 isperformed. Further, in the initial motion input model generationprocessing in Step S1, first initial motion input measurementprocessing, second initial motion input measurement processing, andmodel generation processing are performed. Then, in the work controlsystem 1 according to the first example embodiment, the feedback controlprocessing for executing the operation of the construction machine 10using the initial motion input model generated in Step S1 continuesuntil the operation ends (Steps S2 and S3). That is, the work controlsystem 1 according to the first example embodiment generates the initialmotion input model in a period other than the operation period in whichthe construction machine 10 performs the work. In this way, bygenerating the initial motion input model in the period other than theperiod during which the construction machine 10 works, it is possible toprevent the initial motion input model from changing during theoperation of the construction machine 10 and to stably operate theconstruction machine 10.

Now, the initial motion input model generation processing in Step S1 andthe feedback control processing in Step S2 will be described in detail.FIG. 5 shows a flowchart for describing an operation of the initialmotion input model generation unit according to the first exampleembodiment.

The initial motion input model generation unit 31 first selects a drivepart whose initial motion input value has not yet been measured by theinitial motion input measurement unit 311 (Step S11). Next, the initialmotion input measurement unit 311 performs processing of Steps S12 andS13 as the first initial motion input measurement step. The initialmotion input measurement unit 311 measures, for the selected drive part,the initial motion input value of the negative direction of the firstinitial motion input value measurement step (Step S12). Morespecifically, in Step S12, the initial motion input measurement unit 311measures the initial motion input value of the negative direction in themaximum posture (e.g., the first state) detected by the posturedetection unit. Here, the initial motion input value measured in StepS12 is expressed by Expression (1). In the following description,θ_(upper) is a posture angle that the construction machine control unit21 has detected from the drive part when it is in the first state.

[Expression 1] Initial motion input value when movable part is changed

negative direction in maximum posture=U _(min) ⁻(θ_(upper))  (1)

-   -   Initial motion input value when movable part is changed in        negative direction in maximum posture

Next, the initial motion input measurement unit 311 measures, for theselected drive part, the initial motion input value of the positivedirection of the first initial motion input value measurement step (StepS13). More specifically, in Step S13, the initial motion inputmeasurement unit 311 measures the initial motion input value of thepositive direction in the maximum posture (e.g., the first state)detected by the posture detection unit. The initial motion input valuemeasured in Step S13 is expressed by Expression (2).

[Expression 2] initial motion input value when movable part is changed

in positive direction in maximum posture=U _(min) ⁺(θ_(upper))  (2)

Initial motion input value when movable part is changed in positivedirection in maximum posture

Next, the initial motion input measurement unit 311 performs processingof Steps S14 and S15 as the second initial motion input measurementstep. The initial motion input measurement unit 311 measures, for theselected drive part, the initial motion input value of the negativedirection of the second initial motion input value measurement step(Step S14). More specifically, in Step S14, the initial motion inputmeasurement unit 311 measures the initial motion input value of thenegative direction in the minimum posture (e.g., the second state)detected by the posture detection unit. The initial motion input valuemeasured in Step S14 is expressed by Expression (3). In the followingdescription, θ_(lower) is a posture angle that the construction machinecontrol unit 21 has detected from the drive part when it is in thesecond state.

[Expression 3] initial motion input value when movable part is changed

in negative direction in minimum posture=U _(min) ⁻(θ_(upper))  (3)

Initial motion input value when movable part is changed in negativedirection in minimum posture

Next, the initial motion input measurement unit 311 measures, for theselected drive part, the initial motion input value of the positivedirection of the second initial motion input value measurement step(Step S15). More specifically, in Step S15, the initial motion inputmeasurement unit 311 measures the initial motion input value of thepositive direction in the minimum posture (e.g., the second state)detected by the posture detection unit. The initial motion input valuemeasured in Step S15 is expressed by Expression (4).

[Expression 4] Initial motion input value when movable part is changed

in positive direction in minimum posture=U _(min) ⁺(θ_(upper))  (4)

Initial motion input value when movable part is changed in positivedirection in minimum posture

Next, the initial motion input model generation unit 31 computes theinitial motion input model by the model generation unit 312 using thefour initial motion input values acquired by the initial motion inputmeasurement unit 311 (Step S16). There are, for example, two initialmotion input models generated in Step S16, that is, that of the positivedirection in which the cylinder is elongated and that of the negativedirection in which the cylinder is contracted. The initial motion inputmodels generated in the initial motion input model generation unit 31according to the first example embodiment are expressed by Expressions(5) and (7). Note that Expression (5) shows an initial motion inputmodel Umin_p(θ) when the cylinder is displaced in the positive directionand Expression (7) shows an initial motion input model Umin_m(θ) whenthe cylinder is displaced in the negative direction. The symbol θdenotes the posture angle of the drive part detected by the posturedetection unit 22.

[Expression 5]

U _(min_p)(θ)=α⁺·(θ−θ_(lower))+U _(min) ⁺(θ_(lower))  (5)

Note that α⁺ in Expression (5) can be expressed by Expression (6).

$\begin{matrix}\left\lbrack {{Expression}6} \right\rbrack &  \\{\alpha^{+} = \frac{{U_{\min}^{+}\left( \theta_{upper} \right)} - {U_{\min}^{+}\left( \theta_{lower} \right)}}{\theta_{upper} - \theta_{lower}}} & (6)\end{matrix}$ $\begin{matrix}\left\lbrack {{Expression}7} \right\rbrack &  \\{{U_{min\_ m}(\theta)} = {{\alpha^{+} \cdot \left( {\theta - \theta_{lower}} \right)} + {U_{\min}^{+}\left( \theta_{lower} \right)}}} & (7)\end{matrix}$

Note that α⁻ in Expression (7) can be expressed by Expression (8).

$\begin{matrix}\left\lbrack {{Expression}8} \right\rbrack &  \\{\alpha^{+} = \frac{{U_{\min}^{+}\left( \theta_{upper} \right)} - {U_{\min}^{+}\left( \theta_{lower} \right)}}{\theta_{upper} - \theta_{lower}}} & (8)\end{matrix}$

The initial motion input model generation unit 31 repeats processing ofSteps S11-S16 for all the drive parts of the construction machine 10.Then, the initial motion input model generation unit 31 ends the initialmotion input model generation processing in accordance with generationof the initial motion input model for all the drive parts of theconstruction machine 10. The model generation unit 312 of the initialmotion input model generation unit 31 updates the initial motion inputmodel held in the initial motion input update unit 321 by the generatedinitial motion input model.

Next, feedback control processing executed by the feedback control unit32 will be described. FIG. 6 shows a flowchart for describing anoperation of the feedback control unit 32 according to the first exampleembodiment.

As shown in FIG. 6 , the feedback control unit 32 first acquires theposture detection value of the control target part of the constructionmachine 10 from the posture detection unit 22 using the initial motioninput update unit 321 and grasps the current posture θ of theconstruction machine 10 (Step S21). Next, the initial motion inputupdate unit 321 updates the initial motion input value with respect tothe current posture θ using the initial motion input model that is held(Step S22).

Next, the error update unit 322 updates the error between the currentposture θ and the target posture (Step S23). After that, the controlinput computation unit 323 computes the feedback control input valuewith respect to the current posture θ (Step S24) and provides thecomputed feedback control input value for the construction machinecontrol unit 21 (Step S25). Note that the feedback control unit 32performs control until the posture of the construction machine 10becomes a target posture while repeating the processing of StepsS23-S25.

Now, a method for computing the feedback control input value in Step S24will be described in detail. First, when the feedback control inputvalue is denoted by u, the feedback control input value u is expressedby Expression (9). In the following expression, θ denotes a currentposture, θr denotes a target posture, Umax denotes an input maximumvalue, Umin(θ) denotes an initial motion input value (note that theposture direction is omitted), Emax denotes a deceleration startposition with respect to the error between the target posture and thecurrent posture, and Emin denotes a convergence determination thresholdwith respect to the target posture.

[Expression 9]

u=K _(p) ·e+U _(min)(θ)  (9)

Note that Kp can be expressed by Expression (10).

$\begin{matrix}\left\lbrack {{Expression}10} \right\rbrack &  \\{K_{p} = \frac{U_{\max} - {U_{\min}(\theta)}}{E_{\max} - E_{\min}}} & (10)\end{matrix}$

Further, e can be expressed by Expression (11).

[Expression 11]

e=|θ _(r)−θ|  (11)

From the above Expression (9), it can be seen that the feedback controlinput value is a value that has the initial motion input value Umin(θ)as the minimum value. That is, it can be seen that the control inputcomputation unit 323 is able to compute a feedback control input valuein which the initial motion input value computed for each posture of theconstruction machine 10 when the control is started is compensated asthe minimum value.

From the above description, the work control system 1 according to thefirst example embodiment sets the drive part of the construction machine10 to be in the first state and the second state, which are differentamounts of displacement, and measures the initial motion input value foreach of the first state and the second state. The work control system 1then generates an initial motion input model capable of computing aninitial motion input value appropriate for a desired posture using themeasured initial motion input value. The work control system 1 computesthe initial motion input value that is optimal to the current postureusing the initial motion input model generated by the initial motioninput model generation unit 31, and the initial motion input modelgeneration unit 31 computes a feedback control input value thatcompensates the initial motion input value as the lowest value.

Accordingly, the work control system 1 according to the first exampleembodiment is able to control the construction machine 10 by thefeedback control input value with which the construction machine 10 canbe controlled with a high accuracy even when the amount of play of themanipulation lever varies for each posture of the construction machine10.

Second Example Embodiment

In a second example embodiment, a work control system 2, which isanother form of the work control system 1 according to the first exampleembodiment, will be described. In the description of the second exampleembodiment, the components that are the same as those in the firstexample embodiment are denoted by the same reference symbols as thosegiven to the components in the first example embodiment and thedescriptions thereof will be omitted.

FIG. 7 shows a block diagram of the work control system 2 according tothe second example embodiment. As shown in FIG. 7 , the work controlsystem 2 according to the second example embodiment further includes awork instruction unit 41 in addition to the components of the workcontrol system 1 according to the first example embodiment. Further, inthe work control system 2 according to the second example embodiment,the feedback control unit 32 of the work control system 1 according tothe first example embodiment is replaced by a feedback control unit 42.In the feedback control unit 42, the error update unit 322 is replacedby an error update unit 422. The error update unit 422 is different fromthe error update unit 322 in that a parameter update unit 422 a is addedto the components of the error update unit 322.

The work instruction unit 41 provides information regarding the contentof the work performed using the construction machine 10 for the feedbackcontrol unit 42. The error update unit 422 of the feedback control unit42 performs, when it is recognized that a work instruction forinstructing a work to be performed by the construction machine 10 hasbeen updated based on the instruction given from the work instructionunit 41, a parameter update step of updating the control parametersincluding the target posture of the construction machine 10 by theparameter update unit 422 a. It is assumed that the control parametersinclude the maximum input amount Umax and the deceleration startthreshold Emax included in Expression (10).

Next, feedback control processing performed using the feedback controlunit 42 according to the second example embodiment will be described indetail. FIG. 8 shows a flowchart for describing an operation of thefeedback control unit 42 according to the second example embodiment. Inthe description of the flowchart shown in FIG. 8 , Steps S31 and S32that are different from those in the flowchart of the work controlsystem 1 according to the first example embodiment shown in FIG. 6 willbe described.

As shown in FIG. 8 , in the operation of the feedback control unit 42according to the second example embodiment, operations of Steps S31 andS32 are added to the operation performed in the feedback control unit 32according to the first example embodiment. The processing of Steps S31and S32 is performed between Step S22 and Step S23. In Step S31, it isdetermined whether or not the work instruction unit 41 has updated thecontent of the work. When it is determined in Step S31 that the contentof the work has been updated, the error update unit 422 updates controlparameters including the target posture, the input maximum amount, andthe deceleration start threshold in accordance with the content of thecurrent work using the parameter update unit 422 a. Then, the workcontrol system 2 according to the second example embodiment computes theerror with the current posture (Step S24) based on the target posture,the input maximum amount, and the deceleration start threshold updatedin Step S32 and computes the feedback control input value (Step SS25).

From the above description, with the work control system 2 according tothe second example embodiment, by instructing the error update unit 422to update the content of the work by the work instruction unit 41, it ispossible to perform control with an accuracy as high as that in the workcontrol system 1 according to the first example embodiment while causingthe construction machine 10 to perform various kinds of work. In anexcavation work, for example, compared to a case in which the bucket 16is empty, a larger force is required to close the bucket 16 in order toenable the bucket 16 to lifting earth and sand. Therefore, in theexcavation work, control parameters with which torque to be provided forthe bucket 16 increases will be employed. Further, in another example,when the truck is loaded with earth and sand using the bucket 16, thecontrol needs to be performed with a high position accuracy in order toavoid a collision between the truck and the bucket 16. Therefore, in awork for loading a truck with earth and sand, control parameters withwhich the position accuracy is increased are employed.

Note that the present invention is not limited to the aforementionedexample embodiments and may be changed as appropriate without departingfrom the spirit of the present invention.

While the present invention has been described as a hardwareconfiguration in the above example embodiments, the present invention isnot limited thereto. The present invention can achieve desiredprocessing (e.g., processing described with reference to FIGS. 4-6 and 8) by causing a Central Processing Unit (CPU) to execute a computerprogram. Further, the aforementioned program may be stored and providedto a computer using any type of non-transitory computer readable media.Non-transitory computer readable media include any type of tangiblestorage media. Examples of non-transitory computer readable mediainclude magnetic storage media (such as flexible disks, magnetic tapes,hard disk drives, etc.), optical magnetic storage media (e.g.,magneto-optical disks), CD-Read Only Memory (ROM), CD-R, CD-R/W,semiconductor memories (e.g., mask ROM, Programmable ROM (PROM),Erasable PROM (EPROM), flash ROM, Random Access Memory (RAM)). Further,the program may be provided to a computer using any type of transitorycomputer readable medium. Examples of transitory computer readable mediainclude electric signals, optical signals, and electromagnetic waves.Transitory computer readable media can provide the program to a computervia a wired communication line (e.g., electric wires, and opticalfibers) or a wireless communication line.

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2020-144049, filed on Aug. 28, 2020, thedisclosure of which is incorporated herein in its entirety by reference.

Further, the above example embodiments include the following aspects.

(Supplementary Note 1)

A work control method comprising:

-   -   an initial motion input model generation step of generating an        initial motion input model for computing an initial motion input        value at which a movable part of a construction machine is        caused to start to move; and    -   a feedback control step of computing the initial motion input        value that corresponds to the posture of the construction        machine using the initial motion input model and determining a        control input value equal to or larger than the initial motion        input value, wherein    -   the initial motion input model generation step comprises:        -   a first initial motion input value measurement step of            measuring a first initial motion measurement value at which            the movable part is caused to start to move in a first state            in which the movable part is controlled to a first position            within a movable range of the movable part;        -   a second initial motion input value measurement step of            measuring a second initial motion measurement value at which            the movable part is caused to start to move in a second            state in which the movable part is controlled to a second            position that is different from the first position within            the movable        -   range of the movable part; and a model generation step of            generating the initial motion input model that complements            between the first initial motion measurement value and the            second initial motion measurement value and derives the            initial motion input value with respect to a desired posture            of the construction machine.

(Supplementary Note 2)

The work control method according to Supplementary Note 1, wherein

-   -   in the first initial motion input value measurement step, an        input value is provided for the construction machine in such a        way that the movable part moves in each of a positive direction        of the movable part and a negative direction of the movable part        with respect to the movable part which is in the first state,        and the first initial motion measurement value is measured for        each of the positive direction and the negative direction,    -   in the second initial motion input value measurement step, an        input value is provided for the construction machine in such a        way that the movable part moves in each of the positive        direction of the movable part and the negative direction of the        movable part with respect to the movable part which is in the        second state, and the second initial motion measurement value is        measured for each of the positive direction and the negative        direction, and    -   the model generation step includes a control input computation        step of generating the initial motion input model using the        first initial motion measurement value of the positive        direction, the first initial motion measurement value of the        negative direction, the second initial motion measurement value        of the positive direction, and the second initial motion        measurement value of the negative direction.

(Supplementary Note 3)

The work control method according to Supplementary Note 1 or 2, wherein

-   -   the feedback control step comprises:    -   an initial motion input update step of acquiring the current        posture of the construction machine based on positional        information of the movable part of the construction machine and        updating the initial motion input value that corresponds to the        current posture by the value computed using the initial motion        input model;    -   an error update step of updating the error between the current        posture and a target posture of the construction machine; and    -   a control input computation step of receiving the error and the        initial motion input value, computing the control input value        that reduces the error, and provides the computed control input        value for the construction machine.

(Supplementary Note 4)

The work control method according to Supplementary Note 3, wherein, inthe error update step, when a work instruction for instructing a work tobe performed by the construction machine has been updated, a parameterupdate step of updating a control parameter including the target postureof the construction machine is performed.

(Supplementary Note 5)

The work control method according to any one of Supplementary Notes 1 to4, wherein the initial motion input model generation step generates theinitial motion input model in a period other than an operation periodduring which the construction machine performs work.

(Supplementary Note 6)

The work control method according to any one of Supplementary Notes 1 to5, wherein

-   -   the construction machine includes a manipulation lever for        manipulating the posture of the construction machine and an        actuator attached to the manipulation lever, and    -   the work control method includes a construction machine control        step of controlling the construction machine via the        manipulation lever by manipulating the actuator based on the        control input value.

(Supplementary Note 7)

A work control system comprising:

-   -   initial motion input model generation means for generating an        initial motion input model for computing an initial motion input        value at which a movable part of a construction machine is        caused to start to move; and    -   feedback control means for computing the initial motion input        value that corresponds to the posture of the construction        machine using the initial motion input model and determining a        control input value equal to or larger than the initial motion        input value, wherein    -   the initial motion input model generation means performs:        -   first initial motion input value measurement processing for            measuring a first initial motion measurement value at which            the movable part is caused to start to move in a first state            in which the movable part is controlled to a first position            within a movable range of the movable part;        -   second initial motion input value measurement processing for            measuring a second initial motion measurement value at which            the movable part is caused to start to move in a second            state in which the movable part is controlled to a second            position that is different from the first position within            the movable range of the movable part; and        -   model generation processing for generating the initial            motion input model that complements between the first            initial motion measurement value and the second initial            motion measurement value and deriving the initial motion            input value with respect to a desired posture of the            construction machine.

(Supplementary Note 8)

The work control system according to Supplementary Note 7, wherein

-   -   in the first initial motion input value measurement processing,        an input value is provided for the construction machine in such        a way that the movable part moves in each of a positive        direction of the movable part and a negative direction of the        movable part with respect to the movable part which is in the        first state, and the first initial motion measurement value is        measured for each of the positive direction and the negative        direction,    -   in the first initial motion input value measurement processing,        an input value is provided for the construction machine in such        a way that the movable part moves in each of the positive        direction of the movable part and the negative direction of the        movable part with respect to the movable part which is in the        second state, and the second initial motion measurement value is        measured for each of the positive direction and the negative        direction, and    -   in the model generation processing, the initial motion input        model is generated using the first initial motion measurement        value of the positive direction, the first initial motion        measurement value of the negative direction, the second initial        motion measurement value of the positive direction, and the        second initial motion measurement value of the negative        direction.

(Supplementary Note 9)

The work control system according to Supplementary Note 7 or 8, wherein

-   -   the feedback control means comprises:    -   initial motion input update means for acquiring the current        posture of the construction machine based on positional        information of the movable part of the construction machine and        updating the initial motion input value that corresponds to the        current posture by the value computed using the initial motion        input model;    -   error update means for updating the error between the current        posture and a target posture of the construction machine; and    -   control input computation means for receiving the error and the        initial motion input value, computing the control input value        that reduces the error, and providing the computed control input        value for the construction machine.

(Supplementary Note 10)

The work control system according to Supplementary Note 9, wherein theerror update means includes parameter update means for updating acontrol parameter including the target posture of the constructionmachine when a work instruction for instructing a work to be performedby the construction machine has been updated.

(Supplementary Note 11)

The work control system according to any one of Supplementary Notes 7 to10, wherein the initial motion input model generation means generatesthe initial motion input model in a period other than an operationperiod during which the construction machine performs work.

(Supplementary Note 12)

The work control system according to any one of Supplementary Notes 7 to11, wherein

-   -   the construction machine includes a manipulation lever for        manipulating the posture of the construction machine and an        actuator attached to the manipulation lever, and    -   the work control system includes construction machine control        means for controlling the construction machine via the        manipulation lever by manipulating the actuator based on the        control input value.

(Supplementary Note 13)

A work control apparatus comprising:

-   -   initial motion input model generation means for generating an        initial motion input model for computing an initial motion input        value at which a movable part of a construction machine is        caused to start to move; and    -   feedback control means for computing the initial motion input        value that corresponds to the posture of the construction        machine using the initial motion input model and determining a        control input value equal to or larger than the initial motion        input value, wherein    -   the initial motion input model generation means performs:        -   first initial motion input value measurement processing for            measuring a first initial motion measurement value at which            the movable part is caused to start to move in a first state            in which the movable part is controlled to a first position            within a movable range of the movable part;        -   second initial motion input value measurement processing for            measuring a second initial motion measurement value at which            the movable part is caused to start to move in a second            state in which the movable part is controlled to a second            position that is different from the first position within            the movable range of the movable part; and        -   model generation processing for generating the initial            motion input model that complements between the first            initial motion measurement value and the second initial            motion measurement value and deriving the initial motion            input value with respect to a desired posture of the            construction machine.

(Supplementary Note 14)

The work control apparatus according to Supplementary Note 13, wherein

-   -   in the first initial motion input value measurement processing,        an input value is provided for the construction machine in such        a way that the movable part moves in each of a positive        direction of the movable part and a negative direction of the        movable part with respect to the movable part which is in the        first state, and the first initial motion measurement value is        measured for each of the positive direction and the negative        direction,    -   in the first initial motion input value measurement processing,        an input value is provided for the construction machine in such        a way that the movable part moves in each of the positive        direction of the movable part and the negative direction of the        movable part with respect to the movable part which is in the        second state, and the second initial motion measurement value is        measured for each of the positive direction and the negative        direction, and    -   in the model generation processing, the initial motion input        model is generated using the first initial motion measurement        value of the positive direction, the first initial motion        measurement value of the negative direction, the second initial        motion measurement value of the positive direction, and the        second initial motion measurement value of the negative        direction.

(Supplementary Note 15)

The work control apparatus according to Supplementary Note 13 or 14,wherein

-   -   the feedback control means comprises:    -   initial motion input update means for acquiring the current        posture of the construction machine based on positional        information of the movable part of the construction machine and        updating the initial motion input value that corresponds to the        current posture by the value computed using the initial motion        input model;    -   error update means for updating the error between the current        posture and a target posture of the construction machine; and    -   control input computation means for receiving the error and the        initial motion input value, computing the control input value        that reduces the error, and providing the computed control input        value for the construction machine.

(Supplementary Note 16)

The work control apparatus according to Supplementary Note 15, whereinthe error update means includes parameter update means for updating acontrol parameter including the target posture of the constructionmachine when a work instruction for instructing a work to be performedby the construction machine has been updated.

(Supplementary Note 17)

The work control apparatus according to any one of Supplementary Notes13 to 16, wherein the initial motion input model generation meansgenerates the initial motion input model in a period other than anoperation period during which the construction machine performs work.

(Supplementary Note 18)

The work control apparatus according to any one of Supplementary Notes13 to 17, wherein

-   -   the construction machine includes a manipulation lever for        manipulating the posture of the construction machine and an        actuator attached to the manipulation lever, and    -   the work control system includes construction machine control        means for controlling the construction machine via the        manipulation lever by manipulating the actuator based on the        control input value.

REFERENCE SIGNS LIST

-   -   1 Work Control System    -   2 Work Control System    -   10 Construction Machine    -   11 Crawler    -   12 Turning Base    -   13 Cockpit    -   14 Boom    -   16 Arm    -   16 Bucket    -   17 Actuator    -   181 Posture Sensor    -   182 Posture Sensor    -   183 Posture Sensor    -   184 Posture Sensor    -   20 Posture Control Apparatus    -   21 Construction Machine Control Unit    -   22 Posture Detection Unit    -   30 Work Control Apparatus    -   31 Initial Motion Input Model Generation Unit    -   311 Initial Motion Input Measurement Unit    -   312 Model Generation Unit    -   32 Feedback Control Unit    -   321 Initial Motion Input Update Unit    -   322 Error Update Unit    -   323 Control Input Computation Unit    -   41 Work Instruction Unit    -   42 Feedback Control Unit    -   422 Error Update Unit    -   422 a Parameter Update Unit

What is claimed is:
 1. A work control method comprising: an initialmotion input model generation step of generating an initial motion inputmodel for computing an initial motion input value at which a movablepart of a construction machine is caused to start to move; and afeedback control step of computing the initial motion input value thatcorresponds to the posture of the construction machine using the initialmotion input model and determining a control input value equal to orlarger than the initial motion input value, wherein the initial motioninput model generation step comprises: a first initial motion inputvalue measurement step of measuring a first initial motion measurementvalue at which the movable part is caused to start to move in a firststate in which the movable part is controlled to a first position withina movable range of the movable part; a second initial motion input valuemeasurement step of measuring a second initial motion measurement valueat which the movable part is caused to start to move in a second statein which the movable part is controlled to a second position that isdifferent from the first position within the movable range of themovable part; and a model generation step of generating the initialmotion input model that complements between the first initial motionmeasurement value and the second initial motion measurement value andderives the initial motion input value with respect to a desired postureof the construction machine.
 2. The work control method according toclaim 1, wherein in the first initial motion input value measurementstep, an input value is provided for the construction machine in such away that the movable part moves in each of a positive direction of themovable part and a negative direction of the movable part with respectto the movable part which is in the first state, and the first initialmotion measurement value is measured for each of the positive directionand the negative direction, in the second initial motion input valuemeasurement step, an input value is provided for the constructionmachine in such a way that the movable part moves in each of thepositive direction of the movable part and the negative direction of themovable part with respect to the movable part which is in the secondstate, and the second initial motion measurement value is measured foreach of the positive direction and the negative direction, and the modelgeneration step includes a control input computation step of generatingthe initial motion input model using the first initial motionmeasurement value of the positive direction, the first initial motionmeasurement value of the negative direction, the second initial motionmeasurement value of the positive direction, and the second initialmotion measurement value of the negative direction.
 3. The work controlmethod according to claim 1, wherein the feedback control stepcomprises: an initial motion input update step of acquiring the currentposture of the construction machine based on positional information ofthe movable part of the construction machine and updating the initialmotion input value that corresponds to the current posture by the valuecomputed using the initial motion input model; an error update step ofupdating the error between the current posture and a target posture ofthe construction machine; and a control input computation step ofreceiving the error and the initial motion input value, computing thecontrol input value that reduces the error, and provides the computedcontrol input value for the construction machine.
 4. The work controlmethod according to claim 3, wherein, in the error update step, when awork instruction for instructing a work to be performed by theconstruction machine has been updated, a parameter update step ofupdating a control parameter including the target posture of theconstruction machine is performed.
 5. The work control method accordingto claim 1, wherein the initial motion input model generation stepgenerates the initial motion input model in a period other than anoperation period during which the construction machine performs work. 6.The work control method according to claim 1, wherein the constructionmachine includes a manipulation lever for manipulating the posture ofthe construction machine and an actuator attached to the manipulationlever, and the work control method includes a construction machinecontrol step of controlling the construction machine via themanipulation lever by manipulating the actuator based on the controlinput value.
 7. A work control system comprising: initial motion inputmodel generation means for generating an initial motion input model forcomputing an initial motion input value at which a movable part of aconstruction machine is caused to start to move; and feedback controlmeans for computing the initial motion input value that corresponds tothe posture of the construction machine using the initial motion inputmodel and determining a control input value equal to or larger than theinitial motion input value, wherein the initial motion input modelgeneration means performs: first initial motion input value measurementprocessing for measuring a first initial motion measurement value atwhich the movable part is caused to start to move in a first state inwhich the movable part is controlled to a first position within amovable range of the movable part; second initial motion input valuemeasurement processing for measuring a second initial motion measurementvalue at which the movable part is caused to start to move in a secondstate in which the movable part is controlled to a second position thatis different from the first position within the movable range of themovable part; and model generation processing for generating the initialmotion input model that complements between the first initial motionmeasurement value and the second initial motion measurement value andderiving the initial motion input value with respect to a desiredposture of the construction machine.
 8. The work control systemaccording to claim 7, wherein in the first initial motion input valuemeasurement processing, an input value is provided for the constructionmachine in such a way that the movable part moves in each of a positivedirection of the movable part and a negative direction of the movablepart with respect to the movable part which is in the first state, andthe first initial motion measurement value is measured for each of thepositive direction and the negative direction, in the second initialmotion input value measurement processing, an input value is providedfor the construction machine in such a way that the movable part movesin such a way that the movable part moves in each of the positivedirection of the movable part and the negative direction of the movablepart with respect to the movable part which is in the second state, andthe second initial motion measurement value is measured for each of thepositive direction and the negative direction, and in the modelgeneration processing, the initial motion input model is generated usingthe first initial motion measurement value of the positive direction,the first initial motion measurement value of the negative direction,the second initial motion measurement value of the positive direction,and the second initial motion measurement value of the negativedirection.
 9. The work control system according to claim 7, wherein thefeedback control means comprises: initial motion input update means foracquiring the current posture of the construction machine based onpositional information of the movable part of the construction machineand updating the initial motion input value that corresponds to thecurrent posture by the value computed using the initial motion inputmodel; error update means for updating the error between the currentposture and a target posture of the construction machine; and controlinput computation means for receiving the error and the initial motioninput value, computing the control input value that reduces the error,and providing the computed control input value for the constructionmachine.
 10. The work control system according to claim 9, wherein theerror update means includes parameter update means for updating acontrol parameter including the target posture of the constructionmachine when a work instruction for instructing a work to be performedby the construction machine has been updated.
 11. The work controlsystem according to claim 7, wherein the initial motion input modelgeneration means generates the initial motion input model in a periodother than an operation period during which the construction machineperforms work.
 12. The work control system according to claim 7, whereinthe construction machine includes a manipulation lever for manipulatingthe posture of the construction machine and an actuator attached to themanipulation lever, and the work control system includes constructionmachine control means for controlling the construction machine via themanipulation lever by manipulating the actuator based on the controlinput value.
 13. A work control apparatus comprising: initial motioninput model generation means for generating an initial motion inputmodel for computing an initial motion input value at which a movablepart of a construction machine is caused to start to move; and feedbackcontrol means for computing the initial motion input value thatcorresponds to the posture of the construction machine using the initialmotion input model and determining a control input value equal to orlarger than the initial motion input value, wherein the initial motioninput model generation means performs: first initial motion input valuemeasurement processing for measuring a first initial motion measurementvalue at which the movable part is caused to start to move in a firststate in which the movable part is controlled to a first position withina movable range of the movable part; second initial motion input valuemeasurement processing for measuring a second initial motion measurementvalue at which the movable part is caused to start to move in a secondstate in which the movable part is controlled to a second position thatis different from the first position within the movable range of themovable part; and model generation processing for generating the initialmotion input model that complements between the first initial motionmeasurement value and the second initial motion measurement value andderiving the initial motion input value with respect to a desiredposture of the construction machine.
 14. The work control apparatusaccording to claim 13, wherein in the first initial motion input valuemeasurement processing, an input value is provided for the constructionmachine in such a way that the movable part moves in each of a positivedirection of the movable part and a negative direction of the movablepart with respect to the movable part which is in the first state, andthe first initial motion measurement value is measured for each of thepositive direction and the negative direction, in the second initialmotion input value measurement processing, an input value is providedfor the construction machine in such a way that the movable part movesin each of the positive direction of the movable part and the negativedirection of the movable part with respect to the movable part which isin the second state, and the second initial motion measurement value ismeasured for each of the positive direction and the negative direction,and in the model generation processing, the initial motion input modelis generated using the first initial motion measurement value of thepositive direction, the first initial motion measurement value of thenegative direction, the second initial motion measurement value of thepositive direction, and the second initial motion measurement value ofthe negative direction.
 15. The work control apparatus according toclaim 13, wherein the feedback control means comprises: initial motioninput update means for acquiring the current posture of the constructionmachine based on positional information of the movable part of theconstruction machine and updating the initial motion input value thatcorresponds to the current posture by the value computed using theinitial motion input model; error update means for updating the errorbetween the current posture and a target posture of the constructionmachine; and control input computation means for receiving the error andthe initial motion input value, computing the control input value thatreduces the error, and providing the computed control input value forthe construction machine.
 16. The work control apparatus according toclaim 15, wherein the error update means includes parameter update meansfor updating a control parameter including the target posture of theconstruction machine when a work instruction for instructing a work tobe performed by the construction machine has been updated.
 17. The workcontrol apparatus according to claim 13, wherein the initial motioninput model generation means generates the initial motion input model ina period other than an operation period during which the constructionmachine performs work.
 18. The work control apparatus according to claim13, wherein the construction machine includes a manipulation lever formanipulating the posture of the construction machine and an actuatorattached to the manipulation lever, and the work control system includesconstruction machine control means for controlling the constructionmachine via the manipulation lever by manipulating the actuator based onthe control input value.